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<div class="title">hybrid_astar.hpp</div>  </div>
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<a href="hybrid__astar_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#pragma once</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;algorithm&gt;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;cmath&gt;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;unordered_map&gt;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;unordered_set&gt;</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;</div><div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="hybrid__astar_8hpp.html#a2c1b59d5a7f8d6396786294e4d120202">   17</a></span>&#160;<span class="preprocessor">#define USE_FIBONACCI_HEAP</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &lt;boost/heap/d_ary_heap.hpp&gt;</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#include &lt;boost/heap/fibonacci_heap.hpp&gt;</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#include &lt;boost/program_options.hpp&gt;</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="neighbor_8hpp.html">neighbor.hpp</a>&quot;</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="planresult_8hpp.html">planresult.hpp</a>&quot;</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacelibMultiRobotPlanning.html">libMultiRobotPlanning</a> {</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> State, <span class="keyword">typename</span> Action, <span class="keyword">typename</span> Cost, <span class="keyword">typename</span> Environment,</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;          <span class="keyword">typename</span> StateHasher = std::hash&lt;State&gt;&gt;</div><div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classlibMultiRobotPlanning_1_1HybridAStar.html">   80</a></span>&#160;<span class="keyword">class </span><a class="code" href="classlibMultiRobotPlanning_1_1HybridAStar.html">HybridAStar</a> {</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; <span class="keyword">public</span>:</div><div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="classlibMultiRobotPlanning_1_1HybridAStar.html#a17185062d98febd93ed33496fa68a6da">   82</a></span>&#160;  <a class="code" href="classlibMultiRobotPlanning_1_1HybridAStar.html#a17185062d98febd93ed33496fa68a6da">HybridAStar</a>(Environment&amp; environment) : m_env(environment) {}</div><div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classlibMultiRobotPlanning_1_1HybridAStar.html#a85ce07189e4d87401cd3e36caf3d70c2">   83</a></span>&#160;  <a class="code" href="classlibMultiRobotPlanning_1_1HybridAStar.html#a85ce07189e4d87401cd3e36caf3d70c2">~HybridAStar</a>() {}</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;</div><div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classlibMultiRobotPlanning_1_1HybridAStar.html#aa25fddfe1d2772051e4d596b728450ec">   85</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classlibMultiRobotPlanning_1_1HybridAStar.html#aa25fddfe1d2772051e4d596b728450ec">search</a>(<span class="keyword">const</span> State&amp; startState,</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;              <a class="code" href="structlibMultiRobotPlanning_1_1PlanResult.html">PlanResult&lt;State, Action, Cost&gt;</a>&amp; solution, Cost initialCost = 0) {</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    solution.<a class="code" href="structlibMultiRobotPlanning_1_1PlanResult.html#ad1bd2882efca968d38165742bae0a511">states</a>.clear();</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    solution.<a class="code" href="structlibMultiRobotPlanning_1_1PlanResult.html#aa868b92b5c742f6c662e69779fbd09a4">actions</a>.clear();</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    solution.<a class="code" href="structlibMultiRobotPlanning_1_1PlanResult.html#ab340aeae4fdabbd0345403e9fa609d9a">cost</a> = 0;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    openSet_t openSet;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    std::unordered_map&lt;uint64_t, heapHandle_t, std::hash&lt;uint64_t&gt;&gt; stateToHeap;</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    std::unordered_set&lt;uint64_t, std::hash&lt;uint64_t&gt;&gt; closedSet;</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    std::unordered_map&lt;State, std::tuple&lt;State, Action, Cost, Cost&gt;,</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;                       StateHasher&gt;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        cameFrom;</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <span class="keyword">auto</span> handle =</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        openSet.push(Node(startState, Action(),</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;                          m_env.<a class="code" href="classlibMultiRobotPlanning_1_1Environment.html#aa699ff38af2907cd0a03e267829fb8e1">admissibleHeuristic</a>(startState), initialCost));</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    stateToHeap.insert(std::make_pair&lt;&gt;(m_env.<a class="code" href="classlibMultiRobotPlanning_1_1Environment.html#abb7f89fed175eb3c00a14c830d692fc6">calcIndex</a>(startState), handle));</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    (*handle).handle = handle;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    std::vector&lt;Neighbor&lt;State, Action, Cost&gt;&gt; neighbors;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    neighbors.reserve(10);</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <span class="keywordflow">while</span> (!openSet.empty()) {</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      Node current = openSet.top();</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      m_env.onExpandNode(current.state, current.fScore, current.gScore);</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <span class="keywordflow">if</span> (m_env.<a class="code" href="classlibMultiRobotPlanning_1_1Environment.html#a169c1f48204f9028bf287873b8d771c2">isSolution</a>(current.state, current.gScore, cameFrom)) {</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        solution.<a class="code" href="structlibMultiRobotPlanning_1_1PlanResult.html#ad1bd2882efca968d38165742bae0a511">states</a>.clear();</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        solution.<a class="code" href="structlibMultiRobotPlanning_1_1PlanResult.html#aa868b92b5c742f6c662e69779fbd09a4">actions</a>.clear();</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        <span class="keyword">auto</span> iter = cameFrom.find(m_env.<a class="code" href="classlibMultiRobotPlanning_1_1Environment.html#ad5eab4549c789e6b01028dc3ffe2697d">getGoal</a>());</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        solution.<a class="code" href="structlibMultiRobotPlanning_1_1PlanResult.html#ab340aeae4fdabbd0345403e9fa609d9a">cost</a> = std::get&lt;3&gt;(iter-&gt;second);</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        solution.<a class="code" href="structlibMultiRobotPlanning_1_1PlanResult.html#aefdd2f68b906f207ded16bfe46e0f7b0">fmin</a> =</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;            std::get&lt;3&gt;(iter-&gt;second) +</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;            m_env.<a class="code" href="classlibMultiRobotPlanning_1_1Environment.html#aa699ff38af2907cd0a03e267829fb8e1">admissibleHeuristic</a>(iter-&gt;first);  <span class="comment">// current.fScore;</span></div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        <span class="keywordflow">while</span> (iter != cameFrom.end()) {</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;          <span class="comment">// std::cout &lt;&lt; &quot; From &quot; &lt;&lt; std::get&lt;0&gt;(iter-&gt;second)</span></div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;          <span class="comment">//           &lt;&lt; &quot; to Node:&quot; &lt;&lt; iter-&gt;first</span></div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;          <span class="comment">//           &lt;&lt; &quot; with ACTION: &quot; &lt;&lt; std::get&lt;1&gt;(iter-&gt;second) &lt;&lt; &quot;</span></div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;          <span class="comment">//           cost &quot;</span></div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;          <span class="comment">//           &lt;&lt; std::get&lt;2&gt;(iter-&gt;second) &lt;&lt; &quot; g_score &quot;</span></div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;          <span class="comment">//           &lt;&lt; std::get&lt;3&gt;(iter-&gt;second) &lt;&lt; std::endl;</span></div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;          solution.<a class="code" href="structlibMultiRobotPlanning_1_1PlanResult.html#ad1bd2882efca968d38165742bae0a511">states</a>.push_back(</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;              std::make_pair&lt;&gt;(iter-&gt;first, std::get&lt;3&gt;(iter-&gt;second)));</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;          solution.<a class="code" href="structlibMultiRobotPlanning_1_1PlanResult.html#aa868b92b5c742f6c662e69779fbd09a4">actions</a>.push_back(std::make_pair&lt;&gt;(</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;              std::get&lt;1&gt;(iter-&gt;second), std::get&lt;2&gt;(iter-&gt;second)));</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;          iter = cameFrom.find(std::get&lt;0&gt;(iter-&gt;second));</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        }</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        solution.<a class="code" href="structlibMultiRobotPlanning_1_1PlanResult.html#ad1bd2882efca968d38165742bae0a511">states</a>.push_back(std::make_pair&lt;&gt;(startState, initialCost));</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        std::reverse(solution.<a class="code" href="structlibMultiRobotPlanning_1_1PlanResult.html#ad1bd2882efca968d38165742bae0a511">states</a>.begin(), solution.<a class="code" href="structlibMultiRobotPlanning_1_1PlanResult.html#ad1bd2882efca968d38165742bae0a511">states</a>.end());</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        std::reverse(solution.<a class="code" href="structlibMultiRobotPlanning_1_1PlanResult.html#aa868b92b5c742f6c662e69779fbd09a4">actions</a>.begin(), solution.<a class="code" href="structlibMultiRobotPlanning_1_1PlanResult.html#aa868b92b5c742f6c662e69779fbd09a4">actions</a>.end());</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        openSet.clear();</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      }</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      openSet.pop();</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      stateToHeap.erase(m_env.<a class="code" href="classlibMultiRobotPlanning_1_1Environment.html#abb7f89fed175eb3c00a14c830d692fc6">calcIndex</a>(current.state));</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      closedSet.insert(m_env.<a class="code" href="classlibMultiRobotPlanning_1_1Environment.html#abb7f89fed175eb3c00a14c830d692fc6">calcIndex</a>(current.state));</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      <span class="comment">// traverse neighbors</span></div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      neighbors.clear();</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      m_env.<a class="code" href="classlibMultiRobotPlanning_1_1Environment.html#ac25b780f08c32d8e8bd1563a79124689">getNeighbors</a>(current.state, current.action, neighbors);</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      <span class="keywordflow">for</span> (<span class="keyword">const</span> <a class="code" href="structlibMultiRobotPlanning_1_1Neighbor.html">Neighbor&lt;State, Action, Cost&gt;</a>&amp; neighbor : neighbors) {</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        <span class="keywordflow">if</span> (closedSet.find(m_env.<a class="code" href="classlibMultiRobotPlanning_1_1Environment.html#abb7f89fed175eb3c00a14c830d692fc6">calcIndex</a>(neighbor.state)) ==</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;            closedSet.end()) {  <span class="comment">// not in closed set</span></div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;          Cost tentative_gScore = current.gScore + neighbor.cost;</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;          <span class="keyword">auto</span> iter = stateToHeap.find(m_env.<a class="code" href="classlibMultiRobotPlanning_1_1Environment.html#abb7f89fed175eb3c00a14c830d692fc6">calcIndex</a>(neighbor.state));</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;          <span class="keywordflow">if</span> (iter == stateToHeap.end()) {  <span class="comment">// Discover a new node</span></div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;            Cost fScore =</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;                tentative_gScore + m_env.<a class="code" href="classlibMultiRobotPlanning_1_1Environment.html#aa699ff38af2907cd0a03e267829fb8e1">admissibleHeuristic</a>(neighbor.state);</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;            <span class="keyword">auto</span> handle = openSet.push(Node(neighbor.state, neighbor.action,</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;                                            fScore, tentative_gScore));</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;            (*handle).handle = handle;</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;            stateToHeap.insert(</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;                std::make_pair&lt;&gt;(m_env.<a class="code" href="classlibMultiRobotPlanning_1_1Environment.html#abb7f89fed175eb3c00a14c830d692fc6">calcIndex</a>(neighbor.state), handle));</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;            m_env.onDiscover(neighbor.state, fScore, tentative_gScore);</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;            <span class="comment">// std::cout &lt;&lt; &quot;  this is a new node &quot; &lt;&lt; fScore &lt;&lt; &quot;,&quot; &lt;&lt;</span></div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;            <span class="comment">// tentative_gScore &lt;&lt; std::endl;</span></div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;          } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;            <span class="keyword">auto</span> handle = iter-&gt;second;</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;            <span class="comment">// std::cout &lt;&lt; &quot;  this is an old node: &quot; &lt;&lt; tentative_gScore &lt;&lt; &quot;,&quot;</span></div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;            <span class="comment">// &lt;&lt; (*handle).gScore &lt;&lt; std::endl;</span></div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;            <span class="comment">// We found this node before with a better path</span></div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;            <span class="keywordflow">if</span> (tentative_gScore &gt;= (*handle).gScore) {</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;              <span class="keywordflow">continue</span>;</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;            }</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;            <span class="comment">// update f and gScore</span></div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;            Cost delta = (*handle).gScore - tentative_gScore;</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;            (*handle).gScore = tentative_gScore;</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;            (*handle).fScore -= delta;</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;            (*handle).state = neighbor.state;</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;            openSet.increase(handle);</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;            m_env.onDiscover(neighbor.state, (*handle).fScore,</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;                             (*handle).gScore);</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;          }</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;          <span class="comment">// Best path for this node so far</span></div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;          <span class="comment">// TODO: this is not the best way to update &quot;cameFrom&quot;, but otherwise</span></div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;          <span class="comment">// default c&#39;tors of State and Action are required</span></div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;          cameFrom.erase(neighbor.state);</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;          cameFrom.insert(std::make_pair&lt;&gt;(</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;              neighbor.state,</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;              std::make_tuple&lt;&gt;(current.state, neighbor.action, neighbor.cost,</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;                                tentative_gScore)));</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        }</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      }</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    }</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    openSet.clear();</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  }</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; <span class="keyword">private</span>:</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  <span class="keyword">struct </span>Node {</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    Node(<span class="keyword">const</span> State&amp; state, Action action, Cost fScore, Cost gScore)</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        : state(state), action(action), fScore(fScore), gScore(gScore) {}</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    <span class="keywordtype">bool</span> operator&lt;(<span class="keyword">const</span> Node&amp; other)<span class="keyword"> const </span>{</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      <span class="comment">// Sort order</span></div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      <span class="comment">// 1. lowest fScore</span></div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      <span class="comment">// 2. highest gScore</span></div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      <span class="comment">// Our heap is a maximum heap, so we invert the comperator function here</span></div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      <span class="keywordflow">if</span> (fScore != other.fScore) {</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        <span class="keywordflow">return</span> fScore &gt; other.fScore;</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;      } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        <span class="keywordflow">return</span> gScore &lt; other.gScore;</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      }</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    }</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    <span class="keyword">friend</span> std::ostream&amp; operator&lt;&lt;(std::ostream&amp; os, <span class="keyword">const</span> Node&amp; node) {</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      os &lt;&lt; <span class="stringliteral">&quot;state: &quot;</span> &lt;&lt; node.state &lt;&lt; <span class="stringliteral">&quot; fScore: &quot;</span> &lt;&lt; node.fScore</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;         &lt;&lt; <span class="stringliteral">&quot; gScore: &quot;</span> &lt;&lt; node.gScore;</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      <span class="keywordflow">return</span> os;</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    }</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    State state;</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    Action action;</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    Cost fScore;</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    Cost gScore;</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;<span class="preprocessor">#ifdef USE_FIBONACCI_HEAP</span></div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    <span class="keyword">typename</span> boost::heap::fibonacci_heap&lt;Node&gt;::handle_type handle;</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    <span class="keyword">typename</span> boost::heap::d_ary_heap&lt;Node, boost::heap::arity&lt;2&gt;,</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;                                     boost::heap::mutable_&lt;true&gt;&gt;::handle_type</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        handle;</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;  };</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;<span class="preprocessor">#ifdef USE_FIBONACCI_HEAP</span></div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> boost::heap::fibonacci_heap&lt;Node&gt; openSet_t;</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> openSet_t::handle_type heapHandle_t;</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> boost::heap::d_ary_heap&lt;Node, boost::heap::arity&lt;2&gt;,</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;                                           boost::heap::mutable_&lt;true&gt;&gt;</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      openSet_t;</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> openSet_t::handle_type heapHandle_t;</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;</div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160; <span class="keyword">private</span>:</div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;  Environment&amp; m_env;</div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;};</div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;}  <span class="comment">// namespace libMultiRobotPlanning</span></div><div class="ttc" id="classlibMultiRobotPlanning_1_1HybridAStar_html_aa25fddfe1d2772051e4d596b728450ec"><div class="ttname"><a href="classlibMultiRobotPlanning_1_1HybridAStar.html#aa25fddfe1d2772051e4d596b728450ec">libMultiRobotPlanning::HybridAStar::search</a></div><div class="ttdeci">bool search(const State &amp;startState, PlanResult&lt; State, Action, Cost &gt; &amp;solution, Cost initialCost=0)</div><div class="ttdef"><b>Definition:</b> hybrid_astar.hpp:85</div></div>
<div class="ttc" id="structlibMultiRobotPlanning_1_1PlanResult_html_aa868b92b5c742f6c662e69779fbd09a4"><div class="ttname"><a href="structlibMultiRobotPlanning_1_1PlanResult.html#aa868b92b5c742f6c662e69779fbd09a4">libMultiRobotPlanning::PlanResult::actions</a></div><div class="ttdeci">std::vector&lt; std::pair&lt; Action, Cost &gt; &gt; actions</div><div class="ttdoc">actions and their cost </div><div class="ttdef"><b>Definition:</b> planresult.hpp:32</div></div>
<div class="ttc" id="classlibMultiRobotPlanning_1_1HybridAStar_html"><div class="ttname"><a href="classlibMultiRobotPlanning_1_1HybridAStar.html">libMultiRobotPlanning::HybridAStar</a></div><div class="ttdoc">Spatiotemporal Hybrid A* Algorithm. </div><div class="ttdef"><b>Definition:</b> hybrid_astar.hpp:80</div></div>
<div class="ttc" id="classlibMultiRobotPlanning_1_1HybridAStar_html_a17185062d98febd93ed33496fa68a6da"><div class="ttname"><a href="classlibMultiRobotPlanning_1_1HybridAStar.html#a17185062d98febd93ed33496fa68a6da">libMultiRobotPlanning::HybridAStar::HybridAStar</a></div><div class="ttdeci">HybridAStar(Environment &amp;environment)</div><div class="ttdef"><b>Definition:</b> hybrid_astar.hpp:82</div></div>
<div class="ttc" id="classlibMultiRobotPlanning_1_1Environment_html_abb7f89fed175eb3c00a14c830d692fc6"><div class="ttname"><a href="classlibMultiRobotPlanning_1_1Environment.html#abb7f89fed175eb3c00a14c830d692fc6">libMultiRobotPlanning::Environment::calcIndex</a></div><div class="ttdeci">uint64_t calcIndex(const State &amp;s)</div><div class="ttdef"><b>Definition:</b> environment.hpp:367</div></div>
<div class="ttc" id="structlibMultiRobotPlanning_1_1PlanResult_html_ad1bd2882efca968d38165742bae0a511"><div class="ttname"><a href="structlibMultiRobotPlanning_1_1PlanResult.html#ad1bd2882efca968d38165742bae0a511">libMultiRobotPlanning::PlanResult::states</a></div><div class="ttdeci">std::vector&lt; std::pair&lt; State, Cost &gt; &gt; states</div><div class="ttdoc">states and their gScore </div><div class="ttdef"><b>Definition:</b> planresult.hpp:30</div></div>
<div class="ttc" id="structlibMultiRobotPlanning_1_1Neighbor_html"><div class="ttname"><a href="structlibMultiRobotPlanning_1_1Neighbor.html">libMultiRobotPlanning::Neighbor</a></div><div class="ttdoc">Represents state transations. </div><div class="ttdef"><b>Definition:</b> neighbor.hpp:24</div></div>
<div class="ttc" id="namespacelibMultiRobotPlanning_html"><div class="ttname"><a href="namespacelibMultiRobotPlanning.html">libMultiRobotPlanning</a></div><div class="ttdef"><b>Definition:</b> cl_cbs.hpp:19</div></div>
<div class="ttc" id="structlibMultiRobotPlanning_1_1PlanResult_html_ab340aeae4fdabbd0345403e9fa609d9a"><div class="ttname"><a href="structlibMultiRobotPlanning_1_1PlanResult.html#ab340aeae4fdabbd0345403e9fa609d9a">libMultiRobotPlanning::PlanResult::cost</a></div><div class="ttdeci">Cost cost</div><div class="ttdoc">actual cost of the result </div><div class="ttdef"><b>Definition:</b> planresult.hpp:34</div></div>
<div class="ttc" id="classlibMultiRobotPlanning_1_1Environment_html_aa699ff38af2907cd0a03e267829fb8e1"><div class="ttname"><a href="classlibMultiRobotPlanning_1_1Environment.html#aa699ff38af2907cd0a03e267829fb8e1">libMultiRobotPlanning::Environment::admissibleHeuristic</a></div><div class="ttdeci">int admissibleHeuristic(const State &amp;s)</div><div class="ttdef"><b>Definition:</b> environment.hpp:199</div></div>
<div class="ttc" id="neighbor_8hpp_html"><div class="ttname"><a href="neighbor_8hpp.html">neighbor.hpp</a></div><div class="ttdoc">Neighbor header. </div></div>
<div class="ttc" id="classlibMultiRobotPlanning_1_1Environment_html_ad5eab4549c789e6b01028dc3ffe2697d"><div class="ttname"><a href="classlibMultiRobotPlanning_1_1Environment.html#ad5eab4549c789e6b01028dc3ffe2697d">libMultiRobotPlanning::Environment::getGoal</a></div><div class="ttdeci">State getGoal()</div><div class="ttdef"><b>Definition:</b> environment.hpp:366</div></div>
<div class="ttc" id="structlibMultiRobotPlanning_1_1PlanResult_html"><div class="ttname"><a href="structlibMultiRobotPlanning_1_1PlanResult.html">libMultiRobotPlanning::PlanResult</a></div><div class="ttdoc">Represents the path for an agent. </div><div class="ttdef"><b>Definition:</b> planresult.hpp:28</div></div>
<div class="ttc" id="planresult_8hpp_html"><div class="ttname"><a href="planresult_8hpp.html">planresult.hpp</a></div><div class="ttdoc">PlanResult header. </div></div>
<div class="ttc" id="classlibMultiRobotPlanning_1_1HybridAStar_html_a85ce07189e4d87401cd3e36caf3d70c2"><div class="ttname"><a href="classlibMultiRobotPlanning_1_1HybridAStar.html#a85ce07189e4d87401cd3e36caf3d70c2">libMultiRobotPlanning::HybridAStar::~HybridAStar</a></div><div class="ttdeci">~HybridAStar()</div><div class="ttdef"><b>Definition:</b> hybrid_astar.hpp:83</div></div>
<div class="ttc" id="classlibMultiRobotPlanning_1_1Environment_html_a169c1f48204f9028bf287873b8d771c2"><div class="ttname"><a href="classlibMultiRobotPlanning_1_1Environment.html#a169c1f48204f9028bf287873b8d771c2">libMultiRobotPlanning::Environment::isSolution</a></div><div class="ttdeci">bool isSolution(const State &amp;state, double gscore, std::unordered_map&lt; State, std::tuple&lt; State, Action, double, double &gt;, std::hash&lt; State &gt;&gt; &amp;_camefrom)</div><div class="ttdef"><b>Definition:</b> environment.hpp:232</div></div>
<div class="ttc" id="classlibMultiRobotPlanning_1_1Environment_html_ac25b780f08c32d8e8bd1563a79124689"><div class="ttname"><a href="classlibMultiRobotPlanning_1_1Environment.html#ac25b780f08c32d8e8bd1563a79124689">libMultiRobotPlanning::Environment::getNeighbors</a></div><div class="ttdeci">void getNeighbors(const State &amp;s, Action action, std::vector&lt; Neighbor&lt; State, Action, double &gt;&gt; &amp;neighbors)</div><div class="ttdef"><b>Definition:</b> environment.hpp:323</div></div>
<div class="ttc" id="structlibMultiRobotPlanning_1_1PlanResult_html_aefdd2f68b906f207ded16bfe46e0f7b0"><div class="ttname"><a href="structlibMultiRobotPlanning_1_1PlanResult.html#aefdd2f68b906f207ded16bfe46e0f7b0">libMultiRobotPlanning::PlanResult::fmin</a></div><div class="ttdeci">Cost fmin</div><div class="ttdoc">lower bound of the cost (for suboptimal solvers) </div><div class="ttdef"><b>Definition:</b> planresult.hpp:36</div></div>
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